IAI America ASEL - Manual (Page 149)

Part 2 Programs
Chapter 3 Explanation of Commands
127
Part 2 Programs
z ABPG (Abort other program)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional ABPG
Program
number
(Program
number)
CC
[Function] Forcibly end the programs from the one specified in operand 1 to the other specified in
operand 2. Specification in operand 1 only is allowed.
(Note 1) If an ABPG command is issued while a movement command is being executed, the axes will
immediately decelerate and stop.
(Note 2) Not only the operation but also the execution of the step itself will be terminated.
[Example 1] ABPG 10 12 End program Nos. 10, 11 and 12.
Error-generation/output-operation conditions
When one ABPG program is specified (only operand 1 is specified)
No program number error *1
Program already registered Status of the
specified program
Program running
Program not
running
Program not yet
registered
Program number error
*1
Error None None None
C2C
“Program number error”
Output operation ON (OFF *2) ON ON OFF
* The errors shown in the table represent those that generate in accordance with the status of the specified program.
Errors caused by other factors are excluded.
* 1 --- Program number error indicates specification of a number smaller than 1 or exceeding 64.
* 2 --- If an own task (own program) is specified in an ABPG command, the own task will be terminated and then
deleted. The output will turn OFF.
When multiple ABPG programs are specified (both operands 1 and 2 are specified)
No program number error *3
Registered program exists inside the
specified range *4
Status of the
specified program Running program
exists inside the
specified range
None of programs
inside the
specified range
are running
None of programs inside
the specified range are
registered
Program
number error *1
Error None None None
C2C
“Program
number error”
Output operation ON (OFF *5) ON ON OFF
* The errors shown in the table represent those that generate in accordance with the status of the specified program.
Errors caused by other factors are excluded.
* 3 --- Program number error indicates specification of a number smaller than 1 or exceeding 64.
* 4 --- In this case, non-registered programs inside the specified range are not treated as a target of operation. This
will not affect error generation or output operation.
* 5 --- If an own task (own program) is included in the specified range, the own task will be terminated, upon which
the processing of the ABPG command will end. Since the own task will be deleted, the result of ending the
processing of specified programs will become indeterminable. Exercise caution. The output will always turn
OFF regardless of the result.